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419 lines
14 KiB
C++
419 lines
14 KiB
C++
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <math.h>
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#include <stdint.h>
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#include <time.h>
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extern "C" {
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#include "common/axis.h"
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#include "common/sensor_alignment.h"
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#include "common/sensor_alignment_impl.h"
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#include "common/utils.h"
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#include "drivers/sensor.h"
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#include "sensors/boardalignment.h"
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#include "sensors/sensors.h"
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}
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#include "gtest/gtest.h"
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/*
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* This test file contains an independent method of rotating a vector.
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* The output of alignSensor() is compared to the output of the test
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* rotation method.
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*
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* For each alignment condition (ALIGN_CW0, CW90, etc) the source vector under
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* test is set to a unit vector along each axis (x-axis, y-axis, z-axis)
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* plus one additional random vector is tested.
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*/
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#define DEG2RAD 0.01745329251
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static void rotateVector(int32_t mat[3][3], float vec[3], float *out)
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{
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float tmp[3];
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for(int i=0; i<3; i++) {
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tmp[i] = 0;
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for(int j=0; j<3; j++) {
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tmp[i] += mat[j][i] * vec[j];
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}
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}
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out[0]=tmp[0];
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out[1]=tmp[1];
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out[2]=tmp[2];
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}
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//static void initXAxisRotation(int32_t mat[][3], int32_t angle)
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//{
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// mat[0][0] = 1;
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// mat[0][1] = 0;
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// mat[0][2] = 0;
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// mat[1][0] = 0;
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// mat[1][1] = cos(angle*DEG2RAD);
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// mat[1][2] = -sin(angle*DEG2RAD);
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// mat[2][0] = 0;
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// mat[2][1] = sin(angle*DEG2RAD);
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// mat[2][2] = cos(angle*DEG2RAD);
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//}
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static void initYAxisRotation(int32_t mat[][3], int32_t angle)
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{
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mat[0][0] = cos(angle*DEG2RAD);
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mat[0][1] = 0;
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mat[0][2] = sin(angle*DEG2RAD);
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mat[1][0] = 0;
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mat[1][1] = 1;
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mat[1][2] = 0;
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mat[2][0] = -sin(angle*DEG2RAD);
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mat[2][1] = 0;
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mat[2][2] = cos(angle*DEG2RAD);
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}
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static void initZAxisRotation(int32_t mat[][3], int32_t angle)
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{
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mat[0][0] = cos(angle*DEG2RAD);
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mat[0][1] = -sin(angle*DEG2RAD);
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mat[0][2] = 0;
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mat[1][0] = sin(angle*DEG2RAD);
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mat[1][1] = cos(angle*DEG2RAD);
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mat[1][2] = 0;
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mat[2][0] = 0;
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mat[2][1] = 0;
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mat[2][2] = 1;
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}
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#define TOL 1e-5 // TOLERANCE
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static void alignSensorViaMatrixFromRotation(float *dest, sensor_align_e alignment)
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{
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fp_rotationMatrix_t sensorRotationMatrix;
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sensorAlignment_t sensorAlignment;
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buildAlignmentFromStandardAlignment(&sensorAlignment, alignment);
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buildRotationMatrixFromAlignment(&sensorAlignment, &sensorRotationMatrix);
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alignSensorViaMatrix(dest, &sensorRotationMatrix);
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}
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static void testCW(sensor_align_e rotation, int32_t angle)
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{
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float src[XYZ_AXIS_COUNT];
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float test[XYZ_AXIS_COUNT];
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// unit vector along x-axis
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src[X] = 1;
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src[Y] = 0;
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src[Z] = 0;
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int32_t matrix[3][3];
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initZAxisRotation(matrix, angle);
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rotateVector(matrix, src, test);
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alignSensorViaMatrixFromRotation(src, rotation);
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EXPECT_NEAR(test[X], src[X], TOL) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
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EXPECT_NEAR(test[Y], src[Y], TOL) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
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EXPECT_NEAR(test[Z], src[Z], TOL) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
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// unit vector along y-axis
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src[X] = 0;
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src[Y] = 1;
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src[Z] = 0;
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rotateVector(matrix, src, test);
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alignSensorViaMatrixFromRotation(src, rotation);
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EXPECT_NEAR(test[X], src[X], TOL) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
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EXPECT_NEAR(test[Y], src[Y], TOL) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
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EXPECT_NEAR(test[Z], src[Z], TOL) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
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// unit vector along z-axis
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src[X] = 0;
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src[Y] = 0;
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src[Z] = 1;
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rotateVector(matrix, src, test);
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alignSensorViaMatrixFromRotation(src, rotation);
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EXPECT_NEAR(test[X], src[X], TOL) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
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EXPECT_NEAR(test[Y], src[Y], TOL) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
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EXPECT_NEAR(test[Z], src[Z], TOL) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
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// random vector to test
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src[X] = rand() % 5;
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src[Y] = rand() % 5;
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src[Z] = rand() % 5;
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rotateVector(matrix, src, test);
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alignSensorViaMatrixFromRotation(src, rotation);
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EXPECT_NEAR(test[X], src[X], TOL) << "Random alignment does not match in X-Axis. " << test[X] << " " << src[X];
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EXPECT_NEAR(test[Y], src[Y], TOL) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
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EXPECT_NEAR(test[Z], src[Z], TOL) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
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}
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/*
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* Since the order of flip and rotation matters, these tests make the
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* assumption that the 'flip' occurs first, followed by clockwise rotation
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*/
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static void testCWFlip(sensor_align_e rotation, int32_t angle)
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{
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float src[XYZ_AXIS_COUNT];
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float test[XYZ_AXIS_COUNT];
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// unit vector along x-axis
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src[X] = 1;
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src[Y] = 0;
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src[Z] = 0;
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int32_t matrix[3][3];
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initYAxisRotation(matrix, 180);
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rotateVector(matrix, src, test);
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initZAxisRotation(matrix, angle);
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rotateVector(matrix, test, test);
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alignSensorViaMatrixFromRotation(src, rotation);
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EXPECT_NEAR(test[X], src[X], TOL) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
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EXPECT_NEAR(test[Y], src[Y], TOL) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
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EXPECT_NEAR(test[Z], src[Z], TOL) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
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// unit vector along y-axis
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src[X] = 0;
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src[Y] = 1;
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src[Z] = 0;
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initYAxisRotation(matrix, 180);
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rotateVector(matrix, src, test);
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initZAxisRotation(matrix, angle);
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rotateVector(matrix, test, test);
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alignSensorViaMatrixFromRotation(src, rotation);
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EXPECT_NEAR(test[X], src[X], TOL) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
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EXPECT_NEAR(test[Y], src[Y], TOL) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
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EXPECT_NEAR(test[Z], src[Z], TOL) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
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// unit vector along z-axis
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src[X] = 0;
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src[Y] = 0;
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src[Z] = 1;
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initYAxisRotation(matrix, 180);
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rotateVector(matrix, src, test);
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initZAxisRotation(matrix, angle);
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rotateVector(matrix, test, test);
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alignSensorViaMatrixFromRotation(src, rotation);
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EXPECT_NEAR(test[X], src[X], TOL) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
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EXPECT_NEAR(test[Y], src[Y], TOL) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
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EXPECT_NEAR(test[Z], src[Z], TOL) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
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// random vector to test
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src[X] = rand() % 5;
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src[Y] = rand() % 5;
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src[Z] = rand() % 5;
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initYAxisRotation(matrix, 180);
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rotateVector(matrix, src, test);
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initZAxisRotation(matrix, angle);
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rotateVector(matrix, test, test);
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alignSensorViaMatrixFromRotation(src, rotation);
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EXPECT_NEAR(test[X], src[X], TOL) << "Random alignment does not match in X-Axis. " << test[X] << " " << src[X];
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EXPECT_NEAR(test[Y], src[Y], TOL) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
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EXPECT_NEAR(test[Z], src[Z], TOL) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
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}
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TEST(AlignSensorTest, ClockwiseZeroDegrees)
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{
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srand(time(NULL));
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testCW(CW0_DEG, 0);
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}
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TEST(AlignSensorTest, ClockwiseNinetyDegrees)
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{
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testCW(CW90_DEG, 90);
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}
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TEST(AlignSensorTest, ClockwiseOneEightyDegrees)
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{
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testCW(CW180_DEG, 180);
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}
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TEST(AlignSensorTest, ClockwiseTwoSeventyDegrees)
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{
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testCW(CW270_DEG, 270);
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}
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TEST(AlignSensorTest, ClockwiseZeroDegreesFlip)
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{
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testCWFlip(CW0_DEG_FLIP, 0);
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}
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TEST(AlignSensorTest, ClockwiseNinetyDegreesFlip)
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{
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testCWFlip(CW90_DEG_FLIP, 90);
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}
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TEST(AlignSensorTest, ClockwiseOneEightyDegreesFlip)
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{
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testCWFlip(CW180_DEG_FLIP, 180);
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}
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TEST(AlignSensorTest, ClockwiseTwoSeventyDegreesFlip)
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{
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testCWFlip(CW270_DEG_FLIP, 270);
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}
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static void testBuildAlignmentWithStandardAlignment(sensor_align_e alignment, sensorAlignment_t expectedSensorAlignment)
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{
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sensorAlignment_t sensorAlignment = SENSOR_ALIGNMENT(6, 6, 6);
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buildAlignmentFromStandardAlignment(&sensorAlignment, alignment);
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for (unsigned i = 0; i < ARRAYLEN(sensorAlignment.raw); i++) {
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EXPECT_EQ(expectedSensorAlignment.raw[i], sensorAlignment.raw[i]) << "Sensor alignment was not updated. alignment: " << alignment;
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}
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}
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TEST(AlignSensorTest, AttemptBuildAlignmentWithStandardAlignment)
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{
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testBuildAlignmentWithStandardAlignment(CW0_DEG, CUSTOM_ALIGN_CW0_DEG);
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testBuildAlignmentWithStandardAlignment(CW90_DEG, CUSTOM_ALIGN_CW90_DEG);
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testBuildAlignmentWithStandardAlignment(CW180_DEG, CUSTOM_ALIGN_CW180_DEG);
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testBuildAlignmentWithStandardAlignment(CW270_DEG, CUSTOM_ALIGN_CW270_DEG);
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testBuildAlignmentWithStandardAlignment(CW0_DEG_FLIP, CUSTOM_ALIGN_CW0_DEG_FLIP);
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testBuildAlignmentWithStandardAlignment(CW90_DEG_FLIP, CUSTOM_ALIGN_CW90_DEG_FLIP);
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testBuildAlignmentWithStandardAlignment(CW180_DEG_FLIP, CUSTOM_ALIGN_CW180_DEG_FLIP);
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testBuildAlignmentWithStandardAlignment(CW270_DEG_FLIP, CUSTOM_ALIGN_CW270_DEG_FLIP);
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}
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TEST(AlignSensorTest, AttemptBuildAlignmentFromCustomAlignment)
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{
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sensorAlignment_t sensorAlignment = SENSOR_ALIGNMENT(1, 2, 3);
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buildAlignmentFromStandardAlignment(&sensorAlignment, ALIGN_CUSTOM);
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sensorAlignment_t expectedSensorAlignment = SENSOR_ALIGNMENT(1, 2, 3);
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for (unsigned i = 0; i < ARRAYLEN(sensorAlignment.raw); i++) {
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EXPECT_EQ(expectedSensorAlignment.raw[i], sensorAlignment.raw[i]) << "Custom alignment should not be updated.";
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}
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}
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TEST(AlignSensorTest, AttemptBuildAlignmentFromDefaultAlignment)
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{
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sensorAlignment_t sensorAlignment = SENSOR_ALIGNMENT(1, 2, 3);
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buildAlignmentFromStandardAlignment(&sensorAlignment, ALIGN_DEFAULT);
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sensorAlignment_t expectedSensorAlignment = SENSOR_ALIGNMENT(1, 2, 3);
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for (unsigned i = 0; i < ARRAYLEN(sensorAlignment.raw); i++) {
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EXPECT_EQ(expectedSensorAlignment.raw[i], sensorAlignment.raw[i]) << "Default alignment should not be updated.";
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}
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}
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TEST(AlignSensorTest, AlignmentBitmasks)
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{
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uint8_t bits;
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bits = ALIGNMENT_TO_BITMASK(CW0_DEG);
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EXPECT_EQ(0x0, bits); // 000000
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EXPECT_EQ(0, ALIGNMENT_YAW_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_PITCH_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_ROLL_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_YAW));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_PITCH));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_ROLL));
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bits = ALIGNMENT_TO_BITMASK(CW90_DEG);
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EXPECT_EQ(0x1, bits); // 000001
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EXPECT_EQ(1, ALIGNMENT_YAW_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_PITCH_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_ROLL_ROTATIONS(bits));
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EXPECT_EQ(1, ALIGNMENT_AXIS_ROTATIONS(bits, FD_YAW));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_PITCH));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_ROLL));
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bits = ALIGNMENT_TO_BITMASK(CW180_DEG);
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EXPECT_EQ(0x2, bits); // 000010
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EXPECT_EQ(2, ALIGNMENT_YAW_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_PITCH_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_ROLL_ROTATIONS(bits));
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EXPECT_EQ(2, ALIGNMENT_AXIS_ROTATIONS(bits, FD_YAW));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_PITCH));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_ROLL));
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bits = ALIGNMENT_TO_BITMASK(CW270_DEG);
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EXPECT_EQ(0x3, bits); // 000011
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EXPECT_EQ(3, ALIGNMENT_YAW_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_PITCH_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_ROLL_ROTATIONS(bits));
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EXPECT_EQ(3, ALIGNMENT_AXIS_ROTATIONS(bits, FD_YAW));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_PITCH));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_ROLL));
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bits = ALIGNMENT_TO_BITMASK(CW0_DEG_FLIP);
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EXPECT_EQ(0x8, bits); // 001000
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EXPECT_EQ(0, ALIGNMENT_YAW_ROTATIONS(bits));
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EXPECT_EQ(2, ALIGNMENT_PITCH_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_ROLL_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_YAW));
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EXPECT_EQ(2, ALIGNMENT_AXIS_ROTATIONS(bits, FD_PITCH));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_ROLL));
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bits = ALIGNMENT_TO_BITMASK(CW90_DEG_FLIP);
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EXPECT_EQ(0x9, bits); // 001001
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EXPECT_EQ(1, ALIGNMENT_YAW_ROTATIONS(bits));
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EXPECT_EQ(2, ALIGNMENT_PITCH_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_ROLL_ROTATIONS(bits));
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EXPECT_EQ(1, ALIGNMENT_AXIS_ROTATIONS(bits, FD_YAW));
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EXPECT_EQ(2, ALIGNMENT_AXIS_ROTATIONS(bits, FD_PITCH));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_ROLL));
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bits = ALIGNMENT_TO_BITMASK(CW180_DEG_FLIP);
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EXPECT_EQ(0xA, bits); // 001010
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EXPECT_EQ(2, ALIGNMENT_YAW_ROTATIONS(bits));
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EXPECT_EQ(2, ALIGNMENT_PITCH_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_ROLL_ROTATIONS(bits));
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EXPECT_EQ(2, ALIGNMENT_AXIS_ROTATIONS(bits, FD_YAW));
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EXPECT_EQ(2, ALIGNMENT_AXIS_ROTATIONS(bits, FD_PITCH));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_ROLL));
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bits = ALIGNMENT_TO_BITMASK(CW270_DEG_FLIP);
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EXPECT_EQ(0xB, bits); // 001011
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EXPECT_EQ(3, ALIGNMENT_YAW_ROTATIONS(bits));
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EXPECT_EQ(2, ALIGNMENT_PITCH_ROTATIONS(bits));
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EXPECT_EQ(0, ALIGNMENT_ROLL_ROTATIONS(bits));
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EXPECT_EQ(3, ALIGNMENT_AXIS_ROTATIONS(bits, FD_YAW));
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EXPECT_EQ(2, ALIGNMENT_AXIS_ROTATIONS(bits, FD_PITCH));
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EXPECT_EQ(0, ALIGNMENT_AXIS_ROTATIONS(bits, FD_ROLL));
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}
|